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  <h1>Source code for packnet_sfm.datasets.image_dataset</h1><div class="highlight"><pre>
<span></span>
<span class="kn">import</span> <span class="nn">re</span>
<span class="kn">from</span> <span class="nn">collections</span> <span class="kn">import</span> <span class="n">defaultdict</span>
<span class="kn">import</span> <span class="nn">os</span>

<span class="kn">from</span> <span class="nn">torch.utils.data</span> <span class="kn">import</span> <span class="n">Dataset</span>
<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
<span class="kn">from</span> <span class="nn">packnet_sfm.utils.image</span> <span class="kn">import</span> <span class="n">load_image</span>

<span class="c1">########################################################################################################################</span>
<span class="c1">#### FUNCTIONS</span>
<span class="c1">########################################################################################################################</span>

<div class="viewcode-block" id="dummy_calibration"><a class="viewcode-back" href="../../../datasets/datasets.ImageDataset.html#packnet_sfm.datasets.image_dataset.dummy_calibration">[docs]</a><span class="k">def</span> <span class="nf">dummy_calibration</span><span class="p">(</span><span class="n">image</span><span class="p">):</span>
    <span class="n">w</span><span class="p">,</span> <span class="n">h</span> <span class="o">=</span> <span class="p">[</span><span class="nb">float</span><span class="p">(</span><span class="n">d</span><span class="p">)</span> <span class="k">for</span> <span class="n">d</span> <span class="ow">in</span> <span class="n">image</span><span class="o">.</span><span class="n">size</span><span class="p">]</span>
    <span class="k">return</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([[</span><span class="mf">1000.</span> <span class="p">,</span> <span class="mf">0.</span>    <span class="p">,</span> <span class="n">w</span> <span class="o">/</span> <span class="mf">2.</span> <span class="o">-</span> <span class="mf">0.5</span><span class="p">],</span>
                     <span class="p">[</span><span class="mf">0.</span>    <span class="p">,</span> <span class="mf">1000.</span> <span class="p">,</span> <span class="n">h</span> <span class="o">/</span> <span class="mf">2.</span> <span class="o">-</span> <span class="mf">0.5</span><span class="p">],</span>
                     <span class="p">[</span><span class="mf">0.</span>    <span class="p">,</span> <span class="mf">0.</span>    <span class="p">,</span> <span class="mf">1.</span>          <span class="p">]])</span></div>

<div class="viewcode-block" id="get_idx"><a class="viewcode-back" href="../../../datasets/datasets.ImageDataset.html#packnet_sfm.datasets.image_dataset.get_idx">[docs]</a><span class="k">def</span> <span class="nf">get_idx</span><span class="p">(</span><span class="n">filename</span><span class="p">):</span>
    <span class="k">return</span> <span class="nb">int</span><span class="p">(</span><span class="n">re</span><span class="o">.</span><span class="n">search</span><span class="p">(</span><span class="sa">r</span><span class="s1">&#39;\d+&#39;</span><span class="p">,</span> <span class="n">filename</span><span class="p">)</span><span class="o">.</span><span class="n">group</span><span class="p">())</span></div>

<div class="viewcode-block" id="read_files"><a class="viewcode-back" href="../../../datasets/datasets.ImageDataset.html#packnet_sfm.datasets.image_dataset.read_files">[docs]</a><span class="k">def</span> <span class="nf">read_files</span><span class="p">(</span><span class="n">directory</span><span class="p">,</span> <span class="n">ext</span><span class="o">=</span><span class="p">(</span><span class="s1">&#39;.png&#39;</span><span class="p">,</span> <span class="s1">&#39;.jpg&#39;</span><span class="p">,</span> <span class="s1">&#39;.jpeg&#39;</span><span class="p">),</span> <span class="n">skip_empty</span><span class="o">=</span><span class="kc">True</span><span class="p">):</span>
    <span class="n">files</span> <span class="o">=</span> <span class="n">defaultdict</span><span class="p">(</span><span class="nb">list</span><span class="p">)</span>
    <span class="k">for</span> <span class="n">entry</span> <span class="ow">in</span> <span class="n">os</span><span class="o">.</span><span class="n">scandir</span><span class="p">(</span><span class="n">directory</span><span class="p">):</span>
        <span class="n">relpath</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">relpath</span><span class="p">(</span><span class="n">entry</span><span class="o">.</span><span class="n">path</span><span class="p">,</span> <span class="n">directory</span><span class="p">)</span>
        <span class="k">if</span> <span class="n">entry</span><span class="o">.</span><span class="n">is_dir</span><span class="p">():</span>
            <span class="n">d_files</span> <span class="o">=</span> <span class="n">read_files</span><span class="p">(</span><span class="n">entry</span><span class="o">.</span><span class="n">path</span><span class="p">,</span> <span class="n">ext</span><span class="o">=</span><span class="n">ext</span><span class="p">,</span> <span class="n">skip_empty</span><span class="o">=</span><span class="n">skip_empty</span><span class="p">)</span>
            <span class="k">if</span> <span class="n">skip_empty</span> <span class="ow">and</span> <span class="ow">not</span> <span class="nb">len</span><span class="p">(</span><span class="n">d_files</span><span class="p">):</span>
                <span class="k">continue</span>
            <span class="n">files</span><span class="p">[</span><span class="n">relpath</span><span class="p">]</span> <span class="o">=</span> <span class="n">d_files</span><span class="p">[</span><span class="n">entry</span><span class="o">.</span><span class="n">path</span><span class="p">]</span>
        <span class="k">elif</span> <span class="n">entry</span><span class="o">.</span><span class="n">is_file</span><span class="p">():</span>
            <span class="k">if</span> <span class="n">ext</span> <span class="ow">is</span> <span class="kc">None</span> <span class="ow">or</span> <span class="n">entry</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">lower</span><span class="p">()</span><span class="o">.</span><span class="n">endswith</span><span class="p">(</span><span class="nb">tuple</span><span class="p">(</span><span class="n">ext</span><span class="p">)):</span>
                <span class="n">files</span><span class="p">[</span><span class="n">directory</span><span class="p">]</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">relpath</span><span class="p">)</span>
    <span class="k">return</span> <span class="n">files</span></div>

<span class="c1">########################################################################################################################</span>
<span class="c1">#### DATASET</span>
<span class="c1">########################################################################################################################</span>

<div class="viewcode-block" id="ImageDataset"><a class="viewcode-back" href="../../../datasets/datasets.ImageDataset.html#packnet_sfm.datasets.image_dataset.ImageDataset">[docs]</a><span class="k">class</span> <span class="nc">ImageDataset</span><span class="p">(</span><span class="n">Dataset</span><span class="p">):</span>
    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">root_dir</span><span class="p">,</span> <span class="n">split</span><span class="p">,</span> <span class="n">data_transform</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span>
                 <span class="n">forward_context</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span> <span class="n">back_context</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span> <span class="n">strides</span><span class="o">=</span><span class="p">(</span><span class="mi">1</span><span class="p">,),</span>
                 <span class="n">depth_type</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">):</span>
        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">()</span>
        <span class="c1"># Asserts</span>
        <span class="k">assert</span> <span class="n">depth_type</span> <span class="ow">is</span> <span class="kc">None</span> <span class="ow">or</span> <span class="n">depth_type</span> <span class="o">==</span> <span class="s1">&#39;&#39;</span><span class="p">,</span> \
            <span class="s1">&#39;ImageDataset currently does not support depth types&#39;</span>
        <span class="k">assert</span> <span class="nb">len</span><span class="p">(</span><span class="n">strides</span><span class="p">)</span> <span class="o">==</span> <span class="mi">1</span> <span class="ow">and</span> <span class="n">strides</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">==</span> <span class="mi">1</span><span class="p">,</span> \
            <span class="s1">&#39;ImageDataset currently only supports stride of 1.&#39;</span>

        <span class="bp">self</span><span class="o">.</span><span class="n">root_dir</span> <span class="o">=</span> <span class="n">root_dir</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">split</span> <span class="o">=</span> <span class="n">split</span>

        <span class="bp">self</span><span class="o">.</span><span class="n">backward_context</span> <span class="o">=</span> <span class="n">back_context</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">forward_context</span> <span class="o">=</span> <span class="n">forward_context</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">has_context</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">backward_context</span> <span class="o">+</span> <span class="bp">self</span><span class="o">.</span><span class="n">forward_context</span> <span class="o">&gt;</span> <span class="mi">0</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">strides</span> <span class="o">=</span> <span class="mi">1</span>

        <span class="bp">self</span><span class="o">.</span><span class="n">files</span> <span class="o">=</span> <span class="p">[]</span>
        <span class="n">file_tree</span> <span class="o">=</span> <span class="n">read_files</span><span class="p">(</span><span class="n">root_dir</span><span class="p">)</span>
        <span class="k">for</span> <span class="n">k</span><span class="p">,</span> <span class="n">v</span> <span class="ow">in</span> <span class="n">file_tree</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
            <span class="n">file_set</span> <span class="o">=</span> <span class="nb">set</span><span class="p">(</span><span class="n">file_tree</span><span class="p">[</span><span class="n">k</span><span class="p">])</span>
            <span class="n">files</span> <span class="o">=</span> <span class="p">[</span><span class="n">fname</span> <span class="k">for</span> <span class="n">fname</span> <span class="ow">in</span> <span class="nb">sorted</span><span class="p">(</span><span class="n">v</span><span class="p">)</span> <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_has_context</span><span class="p">(</span><span class="n">fname</span><span class="p">,</span> <span class="n">file_set</span><span class="p">)]</span>
            <span class="bp">self</span><span class="o">.</span><span class="n">files</span><span class="o">.</span><span class="n">extend</span><span class="p">([[</span><span class="n">k</span><span class="p">,</span> <span class="n">fname</span><span class="p">]</span> <span class="k">for</span> <span class="n">fname</span> <span class="ow">in</span> <span class="n">files</span><span class="p">])</span>

        <span class="bp">self</span><span class="o">.</span><span class="n">data_transform</span> <span class="o">=</span> <span class="n">data_transform</span>

    <span class="k">def</span> <span class="fm">__len__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
        <span class="k">return</span> <span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">files</span><span class="p">)</span>

    <span class="k">def</span> <span class="nf">_change_idx</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">idx</span><span class="p">,</span> <span class="n">filename</span><span class="p">):</span>
        <span class="n">_</span><span class="p">,</span> <span class="n">ext</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">splitext</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">basename</span><span class="p">(</span><span class="n">filename</span><span class="p">))</span>
        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">split</span><span class="o">.</span><span class="n">format</span><span class="p">(</span><span class="n">idx</span><span class="p">)</span> <span class="o">+</span> <span class="n">ext</span>

    <span class="k">def</span> <span class="nf">_has_context</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">filename</span><span class="p">,</span> <span class="n">file_set</span><span class="p">):</span>
        <span class="n">context_paths</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_get_context_file_paths</span><span class="p">(</span><span class="n">filename</span><span class="p">)</span>
        <span class="k">return</span> <span class="nb">all</span><span class="p">([</span><span class="n">f</span> <span class="ow">in</span> <span class="n">file_set</span> <span class="k">for</span> <span class="n">f</span> <span class="ow">in</span> <span class="n">context_paths</span><span class="p">])</span>

    <span class="k">def</span> <span class="nf">_get_context_file_paths</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">filename</span><span class="p">):</span>
        <span class="n">fidx</span> <span class="o">=</span> <span class="n">get_idx</span><span class="p">(</span><span class="n">filename</span><span class="p">)</span>
        <span class="n">idxs</span> <span class="o">=</span> <span class="nb">list</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="o">-</span><span class="bp">self</span><span class="o">.</span><span class="n">backward_context</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">strides</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">strides</span><span class="p">))</span> <span class="o">+</span> \
               <span class="nb">list</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">forward_context</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">strides</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">strides</span><span class="p">)</span> <span class="o">+</span> <span class="bp">self</span><span class="o">.</span><span class="n">strides</span><span class="p">)</span>
        <span class="k">return</span> <span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">_change_idx</span><span class="p">(</span><span class="n">fidx</span> <span class="o">+</span> <span class="n">i</span><span class="p">,</span> <span class="n">filename</span><span class="p">)</span> <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="n">idxs</span><span class="p">]</span>

    <span class="k">def</span> <span class="nf">_read_rgb_context_files</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">session</span><span class="p">,</span> <span class="n">filename</span><span class="p">):</span>
        <span class="n">context_paths</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_get_context_file_paths</span><span class="p">(</span><span class="n">filename</span><span class="p">)</span>
        <span class="k">return</span> <span class="p">[</span><span class="n">load_image</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">root_dir</span><span class="p">,</span> <span class="n">session</span><span class="p">,</span> <span class="n">filename</span><span class="p">))</span>
                <span class="k">for</span> <span class="n">filename</span> <span class="ow">in</span> <span class="n">context_paths</span><span class="p">]</span>

    <span class="k">def</span> <span class="nf">_read_rgb_file</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">session</span><span class="p">,</span> <span class="n">filename</span><span class="p">):</span>
        <span class="k">return</span> <span class="n">load_image</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">root_dir</span><span class="p">,</span> <span class="n">session</span><span class="p">,</span> <span class="n">filename</span><span class="p">))</span>

    <span class="k">def</span> <span class="fm">__getitem__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">idx</span><span class="p">):</span>
        <span class="n">session</span><span class="p">,</span> <span class="n">filename</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">files</span><span class="p">[</span><span class="n">idx</span><span class="p">]</span>
        <span class="n">image</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_read_rgb_file</span><span class="p">(</span><span class="n">session</span><span class="p">,</span> <span class="n">filename</span><span class="p">)</span>

        <span class="n">sample</span> <span class="o">=</span> <span class="p">{</span>
            <span class="s1">&#39;idx&#39;</span><span class="p">:</span> <span class="n">idx</span><span class="p">,</span>
            <span class="s1">&#39;filename&#39;</span><span class="p">:</span> <span class="s1">&#39;</span><span class="si">%s</span><span class="s1">_</span><span class="si">%s</span><span class="s1">&#39;</span> <span class="o">%</span> <span class="p">(</span><span class="n">session</span><span class="p">,</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">splitext</span><span class="p">(</span><span class="n">filename</span><span class="p">)[</span><span class="mi">0</span><span class="p">]),</span>
            <span class="c1">#</span>
            <span class="s1">&#39;rgb&#39;</span><span class="p">:</span> <span class="n">image</span><span class="p">,</span>
            <span class="s1">&#39;intrinsics&#39;</span><span class="p">:</span> <span class="n">dummy_calibration</span><span class="p">(</span><span class="n">image</span><span class="p">)</span>
        <span class="p">}</span>

        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">has_context</span><span class="p">:</span>
            <span class="n">sample</span><span class="p">[</span><span class="s1">&#39;rgb_context&#39;</span><span class="p">]</span> <span class="o">=</span> \
                <span class="bp">self</span><span class="o">.</span><span class="n">_read_rgb_context_files</span><span class="p">(</span><span class="n">session</span><span class="p">,</span> <span class="n">filename</span><span class="p">)</span>

        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">data_transform</span><span class="p">:</span>
            <span class="n">sample</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">data_transform</span><span class="p">(</span><span class="n">sample</span><span class="p">)</span>

        <span class="k">return</span> <span class="n">sample</span></div>

<span class="c1">########################################################################################################################</span>
</pre></div>

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